CN208598519U - The driving structure of operating robot master arm - Google Patents
The driving structure of operating robot master arm Download PDFInfo
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- CN208598519U CN208598519U CN201721272261.4U CN201721272261U CN208598519U CN 208598519 U CN208598519 U CN 208598519U CN 201721272261 U CN201721272261 U CN 201721272261U CN 208598519 U CN208598519 U CN 208598519U
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- master arm
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- apocenter
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Abstract
The utility model provides a kind of driving structure of operating robot master arm, belongs to the field of medical instrument technology.It solves the problems, such as that the roll motor of existing operating robot master arm connects by the way of separating layout with stretching, extension motor and causes volume in the middle part of master arm excessively huge.The driving structure of this operating robot master arm, master arm includes fixed arm, the middle section arm for being hinged on fixed arm one end, is hinged on leading portion arm of the middle section arm far from fixed arm one end and is hinged on travelling arm of the leading portion arm far from middle section arm one end, middle section arm and leading portion arm constitute the two sides of parallelogram, and it is formed between the two positioned at the apocenter of parallelogram apex, driving structure includes the stretching, extension motor for driving master arm to stretch and the roll motor for driving master arm to rotate, and master arm extended line of instrument hand in stretching process passes through apocenter always.The utility model will greatly reduce the volume and weight of master arm middle front part, make not will cause interference when each arm pendulum position.
Description
Technical field
The utility model belongs to the field of medical instrument technology, is related to a kind of driving structure of operating robot master arm.
Background technique
With the application and development of robot technology, the especially development of computing technique, medical operation robot is in clinic
In effect be increasingly valued by people.Micro-wound operation robot can mitigate the physical strength labor of doctor in the course of surgery
It is dynamic, while reaching precisely operation purpose, make that patient's Micro trauma, blood loss are few, postoperative infection is few, post-operative recovery is fast.Minimally Invasive Surgery machine
Device people system is usually using master slave control mode: for operator when operating to main hand, hand exercise will drive main hand
It moves therewith, sensor can measure motion information at main swivel of hand, then be mapped the movement of main hand by master & slave control algorithm
Surgical instrument is driven to realize corresponding sports to from hand master arm from each joint passive movement of hand master arm.Micro-wound operation robot
Master arm key components mainly include remote centre of motion mechanism and surgical instrument, and the design superiority and inferiority of mechanical structure is direct
The performance of micro-wound operation robot is affected, the research and development and design of other component in system are also restrict.
Small in size from hand master arm needs, light-weight, range is big.If volume greatly if influence the layout of multi-arm, to avoid doing
It relates to, operation opening distance is just bigger；If weight is greatly it will cause driving difficulty, front end surgical instrument is easy shake；Move model
It encloses great talent and is able to satisfy operation requirement.The roll motor of current most of operating robot master arms uses with stretching, extension motor and separates cloth
The mode of office connects, and such as Leonardo da Vinci's SI humanoid robot, stretching, extension motor is placed in the center of master arm, causes body in the middle part of master arm
Product is excessively huge, influences pendulum position, to be easy interference in surgical procedure between when operation each arm；And to account for master arm very big for stretching, extension motor
A part of volume, leading to the center of gravity of master arm, the arm of force is too long too far from supporting point.
Summary of the invention
The purpose of this utility model is the presence of the above problem in view of the prior art, proposes one kind and master arm is effectively reduced
The driving structure of the operating robot master arm of middle part volume and weight.
The purpose of this utility model can be realized by the following technical scheme:
The driving structure of this operating robot master arm, master arm include fixed arm, the middle section for being hinged on fixed arm one end
Arm is hinged on leading portion arm of the middle section arm far from fixed arm one end and is hinged on travelling arm of the leading portion arm far from middle section arm one end, institute
The travelling arm stated is equipped with the surgical instrument with instrument hand, and the middle section arm and leading portion arm constitute the two sides of parallelogram
Side, and be formed between the two positioned at the apocenter of parallelogram apex, the extended line of the instrument hand passes through apocenter,
It is characterized in that, driving structure includes the stretching, extension motor for driving master arm to stretch and the roll for driving master arm to rotate
Motor, master arm extended line of instrument hand in stretching process pass through apocenter always, the rotation of master arm in rotary course
Line passes through apocenter, and the stretching, extension motor is fixed on roll motor.
In the driving structure of above-mentioned operating robot master arm, it is fixed with fixing seat on the roll motor, institute
The fixed arm stated is fixed in fixing seat, has mounting hole one in the fixing seat, and the stretching, extension motor is mounted on installation
In hole one.
In the driving structure of above-mentioned operating robot master arm, there is mounting hole two in the fixing seat, it is described
The central axes of mounting hole two are intersected with apocenter, and the roll motor coaxle is fixed in mounting hole two.
In the driving structure of above-mentioned operating robot master arm, central axes and the mounting hole two of the mounting hole one
Central axes are vertically arranged, the vertical ranges of two central axes of mounting hole to fixed arm be equal to apocenter to fixed arm it is vertical away from
From.
In the driving structure of above-mentioned operating robot master arm, the central axes of the mounting hole two with by mounting hole one
The plane intersection that central axes and apocenter are constituted, and the central axes of the mounting hole two and the plane have angle.
Each arm does fan-shaped pendulum position when due to operation, and the motor for accounting for master arm width the close toward passive arm direction
The pendulum position of master arm will be more conducive to.Master arm is supported by passive arm, and the arm of force is long, so the motor for accounting for master arm weight is more past passive
Arm direction is close, requires the bearing capacity of passive arm lower.Stretching, extension motor is moved back, is laid out with roll motor cross-coincidence,
The volume and weight of master arm middle front part will be greatly reduced.
Compared with prior art, the driving structure of this operating robot master arm have the advantage that will stretching, extension motor after
It moves, is laid out with roll motor cross-coincidence, it will the volume and weight for greatly reducing master arm middle front part, when making each arm pendulum position not
It will cause interference.
Detailed description of the invention
Fig. 1 is the partial structure diagram of master arm provided by the utility model.
Fig. 2 is the structural schematic diagram of fixing seat provided by the utility model.
Fig. 3 is the top view of Fig. 1 provided by the utility model.
In figure, 1, fixed arm；2, middle section arm；3, leading portion arm；4, apocenter；5, roll motor；6, fixing seat；7, mounting hole
One；8, mounting hole two；α, angle.
Specific embodiment
It is specific embodiment of the utility model and in conjunction with attached drawing below, the technical solution of the utility model is made further
Description, but the utility model is not limited to these examples.
The driving structure of operating robot master arm as shown in Figure 1, master arm include fixed arm 1, are hinged on fixed arm 1
The middle section arm 2 of one end is hinged on leading portion arm 3 of the middle section arm 2 far from 1 one end of fixed arm and is hinged on leading portion arm 3 far from middle section arm 2
The travelling arm of one end, travelling arm are equipped with the surgical instrument with instrument hand, and middle section arm 2 and leading portion arm 3 constitute parallelogram
Two sides, and be formed between the two positioned at the apocenter of parallelogram apex 4, the extended line of instrument hand passes through apocenter
4, driving structure includes the stretching, extension motor for driving master arm to stretch and the roll motor 5 for driving master arm to rotate, master
The extended line of swing arm instrument hand in stretching process passes through apocenter 4 always, and the rotational line of master arm passes through in rotary course
Apocenter 4, stretching, extension motor are fixed on roll motor 5.
As shown in Figure 1, being fixed with fixing seat 6 on roll motor 5, fixed arm 1 is fixed in fixing seat 6, as shown in Fig. 2,
There is mounting hole 1, stretching, extension motor is mounted in mounting hole 1 in fixing seat 6.
As shown in Fig. 2, having mounting hole 28 in fixing seat 6, the central axes of mounting hole 28 are intersected with apocenter 4, roll
Motor 5 is coaxially fixed in mounting hole 28.
In the present embodiment, the central axes of mounting hole 1 and the central axes of mounting hole 28 are vertically arranged, 28 axis of mounting hole
Line is equal to the vertical range in apocenter 4 to fixed arm 1 to the vertical range of fixed arm 1.
As shown in Fig. 2, the central axes of mounting hole 28 and the plane phase being made of one 7 central axes of mounting hole and apocenter 4
It hands over, and the central axes of mounting hole 28 and the plane have angle α.
Each arm does fan-shaped pendulum position when due to operation, and the motor for accounting for master arm width the close toward passive arm direction
The pendulum position of master arm will be more conducive to.Master arm is supported by passive arm, and the arm of force is long, so the motor for accounting for master arm weight is more past passive
Arm direction is close, requires the bearing capacity of passive arm lower.Stretching, extension motor is moved back, is laid out with 5 cross-coincidence of roll motor,
The volume and weight of master arm middle front part will be greatly reduced.
As shown in figure 3, vertical range of the apocenter 4 away from fixed arm 1 is A, in 3 wall of fixed arm 1, middle section arm 2 and leading portion arm
It under the premise of thickness determines, need to only change the size of fixing seat 6, that is, can guarantee the central axes of roll motor 5 away from the vertical of fixed arm 1
Distance is A, and the central axes of roll motor 5 is made to pass through apocenter 4 always.
The specific embodiments described herein are merely examples of the spirit of the present invention.The utility model institute
Belonging to those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitute, but without departing from the spirit of the present application or beyond the scope of the appended claims.
Claims (5)
1. a kind of driving structure of operating robot master arm, master arm includes fixed arm (1), is hinged on fixed arm (1) one end
Middle section arm (2), be hinged on middle section arm (2) leading portion arm (3) far from fixed arm (1) one end and to be hinged on leading portion arm (3) separate
The travelling arm of middle section arm (2) one end, the travelling arm be equipped with the surgical instrument with instrument hand, the middle section arm (2) with
Leading portion arm (3) constitutes the two sides of parallelogram, and is formed between the two positioned at the apocenter of parallelogram apex
(4), the extended line of the instrument hand passes through apocenter (4), which is characterized in that driving structure includes for driving master arm to stretch
Stretching, extension motor and for drive master arm rotate roll motor (5), the extended line of master arm instrument hand in stretching process
Always apocenter (4) are passed through, the rotational line of master arm passes through apocenter (4) in rotary course, and the stretching, extension motor is fixed
On roll motor (5).
2. the driving structure of operating robot master arm according to claim 1, which is characterized in that the roll motor
(5) it is fixed on fixing seat (6), the fixed arm (1) is fixed on fixing seat (6), has peace in the fixing seat (6)
It fills hole one (7), the stretching, extension motor is mounted in mounting hole one (7).
3. the driving structure of operating robot master arm according to claim 2, which is characterized in that the fixing seat
(6) there is mounting hole two (8), the central axes of the mounting hole two (8) are intersected with apocenter (4), the roll motor (5) on
It is coaxially fixed in mounting hole two (8).
4. the driving structure of operating robot master arm according to claim 3, which is characterized in that the mounting hole one
(7) central axes and the central axes of mounting hole two (8) are vertically arranged, and mounting hole two (8) central axes to fixed arm (1) are hung down
Straight distance is equal to the vertical range of apocenter (4) to fixed arm (1).
5. the driving structure of operating robot master arm according to claim 4, which is characterized in that the mounting hole two
(8) central axes are intersected with the plane being made of mounting hole one (7) central axes and apocenter (4), and the mounting hole two (8)
Central axes and the plane have angle (α).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721272261.4U CN208598519U (en) | 2017-09-29 | 2017-09-29 | The driving structure of operating robot master arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721272261.4U CN208598519U (en) | 2017-09-29 | 2017-09-29 | The driving structure of operating robot master arm |
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| Publication Number | Publication Date |
|---|---|
| CN208598519U true CN208598519U (en) | 2019-03-15 |
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| CN201721272261.4U Active CN208598519U (en) | 2017-09-29 | 2017-09-29 | The driving structure of operating robot master arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110420062A (en) * | 2019-09-18 | 2019-11-08 | 孔德友 | A kind of auxiliary operation arm used for medical procedures |
-
2017
- 2017-09-29 CN CN201721272261.4U patent/CN208598519U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110420062A (en) * | 2019-09-18 | 2019-11-08 | 孔德友 | A kind of auxiliary operation arm used for medical procedures |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210121 Address after: 401120 No.18, Cuiping Lane 2, Huixing street, Yubei District, Chongqing Patentee after: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. Address before: 401120 1 office buildings, Jinshan International Industrial City, 18 of Nei sang Road, Hui Xing street, Yubei District, Chongqing. Patentee before: CHONGQING JINSHAN MEDICAL APPLIANCE Co.,Ltd. |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Driving structure of surgical robot active arm Effective date of registration: 20210526 Granted publication date: 20190315 Pledgee: Changshou sub branch of Bank of Chongqing Co.,Ltd. Pledgor: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. Registration number: Y2021500000017 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210802 Granted publication date: 20190315 Pledgee: Changshou sub branch of Bank of Chongqing Co.,Ltd. Pledgor: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. Registration number: Y2021500000017 |